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Create new functions without float or offset

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This commit is contained in:
Paul Guenette
2019-05-28 23:04:06 +02:00
parent 4bd3326261
commit 7d92f5b862
3 changed files with 34 additions and 17 deletions
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Firmware/Tests/test_runner.cpp
+18 -7
View File
@@ -41,7 +41,7 @@ enum InputMode_t {
// Fetch a specific signal from the message
template <typename T>
float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t tempVal = 0;
uint64_t mask = (1ULL << length) - 1;
@@ -56,16 +56,21 @@ float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t len
T retVal;
std::memcpy(&retVal, &tempVal, sizeof(T));
return retVal;
}
template<typename T>
float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T retVal = can_getSignal<T>(msg, startBit, length, isIntel);
return (retVal * factor) + offset;
}
template <typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T scaledVal = (val - offset) / factor;
uint64_t valAsBits = 0;
std::memcpy(&valAsBits, &scaledVal, sizeof(scaledVal));
template<typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel){
uint64_t mask = (1ULL << length) - 1;
uint64_t valAsBits = 0;
std::memcpy(&valAsBits, &val, sizeof(T));
if (isIntel) {
uint64_t data = 0;
@@ -88,6 +93,12 @@ void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, con
}
}
template <typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T scaledVal = (val - offset) / factor;
can_setSignal<T>(msg, scaledVal, startBit, length, isIntel);
}
template <typename T>
float can_getSignal(can_Message_t msg, const can_Signal_t& signal) {
return can_getSignal<T>(msg, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset);
Firmware/communication/can_simple.cpp
+9 -9
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@@ -185,7 +185,7 @@ void CANSimple::set_axis_nodeid_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_axis_requested_state_callback(Axis* axis, can_Message_t& msg) {
axis->requested_state_ = static_cast<Axis::State_t>(can_getSignal<int16_t>(msg, 0, 16, true, 1, 0));
axis->requested_state_ = static_cast<Axis::State_t>(can_getSignal<int32_t>(msg, 0, 16, true));
}
void CANSimple::set_axis_startup_config_callback(Axis* axis, can_Message_t& msg) {
// Not Implemented
@@ -276,7 +276,7 @@ void CANSimple::get_encoder_count_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_input_pos_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_pos_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.input_pos_ = can_getSignal<int32_t>(msg, 0, 32, true);
axis->controller_.input_vel_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.input_current_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
axis->controller_.input_pos_updated();
@@ -292,12 +292,12 @@ void CANSimple::set_input_current_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_controller_modes_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.config_.control_mode = static_cast<Controller::ControlMode_t>(can_getSignal<int32_t>(msg, 0, 32, true, 1, 0));
axis->controller_.config_.input_mode = static_cast<Controller::InputMode_t>(can_getSignal<int32_t>(msg, 32, 32, true, 1, 0));
axis->controller_.config_.control_mode = static_cast<Controller::ControlMode_t>(can_getSignal<int32_t>(msg, 0, 32, true));
axis->controller_.config_.input_mode = static_cast<Controller::InputMode_t>(can_getSignal<int32_t>(msg, 32, 32, true));
}
void CANSimple::set_vel_limit_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.config_.vel_limit = can_getSignal<float>(msg, 0, 32, true, 1, 0);
axis->controller_.config_.vel_limit = can_getSignal<float>(msg, 0, 32, true);
}
void CANSimple::start_anticogging_callback(Axis* axis, can_Message_t& msg) {
@@ -305,16 +305,16 @@ void CANSimple::start_anticogging_callback(Axis* axis, can_Message_t& msg) {
}
void CANSimple::set_traj_vel_limit_callback(Axis* axis, can_Message_t& msg) {
axis->trap_.config_.vel_limit = can_getSignal<float>(msg, 0, 32, true, 1, 0);
axis->trap_.config_.vel_limit = can_getSignal<float>(msg, 0, 32, true);
}
void CANSimple::set_traj_accel_limits_callback(Axis* axis, can_Message_t& msg) {
axis->trap_.config_.accel_limit = can_getSignal<float>(msg, 0, 32, true, 1, 0);
axis->trap_.config_.decel_limit = can_getSignal<float>(msg, 32, 32, true, 1, 0);
axis->trap_.config_.accel_limit = can_getSignal<float>(msg, 0, 32, true);
axis->trap_.config_.decel_limit = can_getSignal<float>(msg, 32, 32, true);
}
void CANSimple::set_traj_A_per_css_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.config_.inertia = can_getSignal<float>(msg, 0, 32, true, 1, 0);
axis->controller_.config_.inertia = can_getSignal<float>(msg, 0, 32, true);
}
void CANSimple::get_iq_callback(Axis* axis, can_Message_t& msg) {
Firmware/communication/interface_can.hpp
+7 -1
View File
@@ -88,7 +88,7 @@ class ODriveCAN {
#include <iterator>
template <typename T>
float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t tempVal = 0;
uint64_t mask = (1ULL << length) - 1;
@@ -103,6 +103,12 @@ float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t len
T retVal;
std::memcpy(&retVal, &tempVal, sizeof(T));
return retVal;
}
template<typename T>
float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T retVal = can_getSignal<T>(msg, startBit, length, isIntel);
return (retVal * factor) + offset;
}